In this paper, an optimal longitudinal slip ratio system for real-time identification of electric vehicle (EV) with motored wheels is proposed based on the adhesion between tire and road surface. First and foremost, the optimal longitudinal slip rate torque control can be identified in real time by calculating the derivative and slip rate of the adhesion coefficient. Secondly, the vehicle speed...

In most vehicle simulators, complete physical mockups equipped with steering wheel, gearshift and pedals are required. These devices are essential in trying to simulate real conditions, but as a drawback the system becomes expensive, huge (non mobile), and limited to reflect changes on the vehicle type, dimensions, or interior design. We have implemented different configurations for an immersiv...

This paper presents the responses of the railway vehicle and track components in terms of contact forces and displacements. The considered vehicle model is a five-DOF pitch-plane lumped parameter quarter car model supported on two-dimensional track systems comprising three layers. The car body is linked with the vehicle bogie through secondary suspension springs and damper elements, which is fu...

The purpose of this paper is to estimate accurately the vehicle attitudes, i.e. the vehicle roll and pitch angles. It is assumed that a set of data obtained from a low-price six-dimensional inertial measurement unit is available. This includes the linear acceleration of the vehicle and the angular rates of all axes. In addition, the observer exploits the data from the wheel speed sensors, and t...

We describe a nonlinear observer-based design for control of vehicle traction that is important in providing safety and obtaining desired longitudinal vehicle motion. First, a robust sliding mode controller is designed to maintain the wheel slip at any given value. Simulations show that longitudinal traction controller is capable of controlling the vehicle with parameter deviations and disturba...

The problem of modeling and controlling vehicle longitudinal motion is addressed for front wheel propelled vehicles. The chassis dynamics are modeled using relevant fundamental laws taking into account aerodynamic effects and road slop variation. The longitudinal slip, resulting from tire deformation, is captured through Kiencke‟s model. A highly nonlinear model is thus obtained and based upon ...

Active steering system of railway vehicles has proven its ability to bridge the gap between stability and curve friendliness. Generally scaled railway vehicles were developed to reproduce the fundamental dynamic behavior of the full size railway vehicle in laboratory conditions. This paper describes the design of the braking/traction control systems as a part of a 1/5 scaled railway vehicle for...

Torque vectoring (TV) is one of the most promising technologies in vehicle dynamics control as it has the potential to provide distinctive benefits for mobility and agility of all-wheel drive ground vehicles. Especially in all-terrain driving, TV control can support both vehicle stability and driving efficiency. Within this context, the paper presents the state-of-the-art in TV control and intr...

Various control techniques, especially LQG optimal control, have been applied to the design of active and semi-active vehicle suspensions over the past several decades. However passive suspensions remain dominant in the automotive marketplace because they are simple, reliable, and inexpensive. The force generated by a passive suspension at a given wheel can depend only on the relative displacem...

This paper presents a new control algorithm that prevents electrical vehicle from wheel skidding in presence of uncertainties of tire-road condition. An estimator of the maximum effective torque is realized by wheel velocity and input torque, which is based on a pure kinematic relationship between the wheel and the chassis. In order to enhance the stability of the control system and handing per...